Vehicle with traveling wave thrust module apparatuses, methods and systems

ABSTRACT

The VEHICLE WITH TRAVELING WAVE THRUST MODULE APPARATUSES, METHODS AND SYSTEMS include force or forces applied to an arc-like flexible sheet-like material to create a deformed crenated strip fin with strained-deformations. The strained-deformations take on a sinusoid-like form that express the internal energy state of the flexible sheet-like material after it has been configured into a crenated strip fin. After being incorporated into a mechanism with couplings that prevent the crenated strip fin from returning to its un-strained state, the strained-deformations persist. Actuators may be used to sequentially rotate vertebrae attached to the fins causing the travel of sinusoid-like deformations along the fins. The fin, fin actuator or actuators, power source and central controller may be incorporated into a thrust module. Two thrust modules coupled to a central body via roll actuators and flexible coupling members may form a vehicle with exceptional maneuverability.

PRIORITY Claim

This application is a Continuation-in-Part of and claims priority under 35 U.S.C. § 120 to co-pending U.S. non-provisional patent application Ser. No. 16/730,649 filed Dec. 30, 2019 entitled, “Vehicle With Traveling Wave Thrust Module Apparatuses, Methods and Systems”, which in turn claims priority under 35 U.S.C. § 120 to prior U.S. non-provisional patent application Ser. No. 16/167,293 filed Oct. 22, 2018 entitled, “Traveling Wave Propeller, Pump and Generator Apparatuses, Methods and Systems”, which in turn claims priority under 35 U.S.C. § 120 to prior U.S. non-provisional patent application Ser. No. 15/294,635 filed Oct. 14, 2016 entitled, “Traveling Wave Propeller, Pump and Generator Apparatuses, Methods and Systems” (now U.S. Pat. No. 10,190,570), which in turn claims priority under 35 U.S.C. § 119 to prior U.S. provisional patent application Ser. No. 62/357,318 filed Jun. 30, 2016 entitled, “Traveling Wave Propeller, Pump and Generator Apparatuses, Methods and Systems”. The entire contents of the aforementioned applications are incorporated in their entirety herein by reference.

This invention was made with government support under contract #N00014-16-C-3042 awarded by the Office of Naval Research. The government has certain rights in the invention. This application for letters patent disclosure document describes inventive aspects that include various novel innovations (hereinafter “disclosure”) and contains material that is subject to copyright, mask work, and/or other intellectual property protection. The respective owners of such intellectual property have no objection to the facsimile reproduction of the disclosure by anyone as it appears in published Patent Office file/records, but otherwise reserve all rights.

FIELD

The present innovations generally address energy conversion, and more particularly, include VEHICLE WITH TRAVELING WAVE THRUST MODULE APPARATUSES, METHODS AND SYSTEMS.

BACKGROUND

Mechanical devices actuated to perform prescribed motions for a variety of purposes are ubiquitous. Such devices may be configured to effectuate automated movements in or on a variety of media, such as on land, underwater, or in the air. In some cases, sensors may be employed to provide data about device motion, device orientation, environmental factors, and the like. Sensor data may then be used to control actuation of motors to produce the prescribed motions for a particular device configuration or environment,

SUMMARY

Aspects of the disclosed apparatuses, methods and systems include devices which create repetitive or undulating motion, or effect, to produce useful work, such as for a propulsion system or other system, including energy-harnessing systems.

In one embodiment force or forces are applied to an arc-like flexible sheet-like material to create a deformed crenated strip fin with strained-deformations. The strained-deformations take on a sinusoid-like form that express the internal energy state of the flexible sheet-like material after it has been configured into a crenated strip fin. After being incorporated into a mechanism with couplings that prevent the crenated strip fin from returning to its un-strained state, the strained-deformations persist. Actuators may be used to sequentially rotate vertebrae attached to the fins causing the travel of sinusoid-like deformations along the fins. In a fluid medium, the traveling waves of sinusoidal deformations may exert force on the fluid causing the fluid to move and/or creating thrust. In some land-based embodiments, the fins may be configured and the actuators operated to create a crawling action. The fin, fin actuator or actuators, power source and central controller may be incorporated into a thrust module. Two thrust modules coupled to a central body via roll actuators and flexible coupling members may form a vehicle with exceptional maneuverability. Some examples of applications in various embodiments include propulsion systems for sub-sea vessels, personal propulsion systems attachable to the body of a swimmer or diver, surface vessels, amphibious vehicles, lighter-than-air craft, and the pumping, mixing and transportation of fluids, powders, and aggregates. Components, assemblies and modes of operation are described.

Where the actuators are of a type that are capable of harnessing energy, such as electromagnetic motors or dielectric elastomers, the mechanisms may also harness energy when fixed in an environment with moving fluid.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying appendices and/or drawings illustrate various non-limiting, example, innovative aspects in accordance with the present descriptions:

FIG. 1 shows the formation of a crenated strip fin in one embodiment;

FIG. 2 shows a configuration of a crenated strip fin assembled into a mechanism in one embodiment;

FIG. 3 shows details of a transmission assembly in one embodiment;

FIG. 4 shows details of a transmission assembly in one embodiment;

FIG. 5 shows details of a transmission assembly in one embodiment;

FIG. 6 shows an embodiment attached to a vessel and mode of operation in one embodiment;

FIG. 7 shows an embodiment of a free-swimming vessel in one embodiment;

FIG. 8 shows an embodiment of a vessel or vehicle capable of moving on land in one embodiment;

FIG. 9 shows and embodiment attached to an immovable object or substrate and mode of operation in one embodiment;

FIG. 10 shows another implementation of one embodiment;

FIG. 11 shows details of a transmission assembly in one embodiment;

FIG. 12 shows an implementation attached to a vessel in one embodiment;

FIG. 13 shows an implementation attached to an immovable object or substrate in one embodiment;

FIG. 14 shows another implementation of one embodiment;

FIG. 15 shows details of a transmission assembly of one embodiment;

FIG. 16 shows an implementation with two fins sharing common actuators in one embodiment;

FIG. 17 shows an implementation with two fins on two sets of actuators in one embodiment;

FIG. 18 shows an implementation with two pairs of fins on two sets of actuators in one embodiment;

FIG. 19 is a diagram of an implementation with two fins sharing common actuators in one embodiment;

FIG. 20 is a diagram of an implementation with two fins on two sets of actuators in one embodiment;

FIG. 21 is a diagram of an implementation with two pairs of fins on two sets of actuators in one embodiment;

FIG. 22 shows an implementation having a cam in one embodiment; and

FIG. 23 shows details of a transmission assembly of an implementation having a cam in one embodiment;

FIG. 24 shows details of a transmission assembly of another implementation having a cam in one embodiment;

FIG. 25 shows an implementation with two pairs of fins sharing cam driven actuators in one embodiment;

FIG. 26 shows an implementation with two pairs of fins sharing cam driven actuators in another embodiment;

FIG. 27 shows a generator implementation in one embodiment;

FIGS. 28-29 show an arched blade added to one edge of the arc-like flexible sheet-like material in one embodiment;

FIG. 30 shows a cross section through the edge of the flexible sheet-like material in one embodiment;

FIG. 31 shows a cross section of an implementation in which the arched blade has a thickening or flange along the edge in one embodiment;

FIG. 32 shows an implementation of the arched blade wherein the outer radius edge of the arched blade forms a continuous arc but its inner edge is comprised of a series of narrow tabs in one embodiment;

FIG. 33 shows an implementation of two or more composite fin, each coupled to two or more transmission assemblies in one embodiment;

FIG. 34 shows an implementation of a shaft with conjugate cams for each composite fin in one embodiment;

FIGS. 35-36 show implementations of thrust modules in some embodiments;

FIG. 37 shows an implementation of thrust modules coupled via at least one flexible coupling member in one embodiment;

FIGS. 38-39 show views of an implementation of coupled thrust modules in a default operating position in one embodiment;

FIGS. 40-41 show views of an implementation of coupled thrust modules in another operating position in one embodiment;

FIG. 42-43 show views of an implementation of coupled thrust modules in another operating position in one embodiment;

FIG. 44-45 show views of an implementation of coupled thrust modules in another operating position in one embodiment;

FIG. 46 shows an implementation of coupled thrust modules with secondary chassis in one embodiment;

FIG. 47 shows an implementation of coupled thrust modules with cowlings and vehicle payload in one embodiment;

FIGS. 48-52 show an implementation of vehicle position and orientation change in one embodiment; and

FIG. 53 shows an implementation of a vehicle with thrust modules and a central body in one embodiment.

DETAILED DESCRIPTION

Force or forces 1 are applied to one or more arc-like flexible sheet-like materials 2 to create a deformed crenated strip fin 3 with strained-deformations, FIG. 1 . The strained-deformations take on a sinusoid-like form that express the internal energy state of the flexible sheet-like material 2 after it has been configured into a crenated strip fin 3. After being incorporated into a mechanism with couplings 5, 6, 7, 10, FIG. 2 for example, that prevent the crenated strip fin 3 from returning to its un-strained state, the strained-deformations persist.

In one embodiment, in its strained state the crenated strip fin 3 is prevented from returning to its relaxed state by being fixed in at least two locations along an inner edge 4 to a first coupling 5 that is fixed to a vertebra plate 7, for example, via a rotation-enabling component 6 which may be a bearing 6 a, FIG. 3 , or other component that allows the transmission of force from the first coupling 5 and vertebra plate 7 while allowing partial rotation between the first coupling 5 and the vertebra plate 7, such as a flexible planar plate 6 b, FIG. 4 , torsion spring, rubber bushing and/or the like. The vertebra plate 7 is fixed to the shaft 8 of an actuator 9 such as an electromagnetic motor, hydraulic motor, servo etc., FIG. 2 . The actuators may be fixed to a common member 10 and are powered by a battery 11 or other power source. In one embodiment the rotational positions of the actuators 9 may be controlled by a central controller 12.

In one embodiment the first coupling 5, rotation-enabling component 6, vertebra plate 7 and shaft 8 comprise a transmission assembly 13, FIG. 3 .

In one embodiment the point of attachment of the crenated strip fin 3 to the transmission assembly 13, 13 a, 13 b has three degrees of freedom of movement. The actuator 9 induces rotation 14 of the vertebra plate 7 about the axis of the shaft 8. Since in one embodiment the vertebra plate 7 is flexible in the direction 15 parallel to the axis of the shaft 8, the end of the vertebra plate 7 where it is fixed to the rotation-enabling component 6 is able to shift 15 in a direction parallel to the axis of the shaft 8. The rotation-enabling component 6 allows the first coupling 5 to at least partially rotate 16 about an axis 17 perpendicular to the shaft 8, FIG. 4 .

In one embodiment, the vertebra plate 7 may be rigid and motion of the transmission assembly 13, 13 b in a direction 15 parallel to the direction of the axis of the shaft 8 may be facilitated by a bearing track, sleeve bearings 17 a and/or the like, FIG. 5 . The transmission assembly 13, 13 b may be coupled to the common member 10 via mounting fixtures 17 b.

The central controller 12 induces the actuators 9 to rotate the vertebra plates 7 clockwise and counterclockwise in a sequence that causes a traveling wave to move along the crenated strip fin 3. When the mechanism in placed in a fluid medium, FIG. 6 , fluid is primarily moved 18 in the direction of the traveling wave 19, causing the mechanism as well as a body 20 that may be attached to it via a harnessing fixture 22, to travel in a direction 21 opposite to that of the traveling wave 19. Some examples of applications include surface craft or sub-sea marine propulsion, propulsion for lighter-than-air vehicles and/or the like.

The central controller 12 and battery 11 or other power source may be placed, e.g., inside the common member 10 which in some implementations may be water tight or air tight. One fin, or two fins FIG. 7 , or more than two fins may, in one implementation, be attached to the common member 10 via transmission assemblies 13, 13 a, 13 b, to create a free-swimming vessel or vehicle which is able to move through fluid by imparting forces to the fluid, such as described above. For a craft utilizing such an embodiment, thrust vectoring may be facilitated to control the vessel's pitch, yaw, roll, direction, turning, and other controlled movements which may be executed via the central controller 12. Sensors such as accelerometers, gyroscopes, inertial measurement units, compass, optic flow sensors, sonar, lidar, and fluid motion sensors such as pressure and velocity sensors, and/or the like, may feed into the central controller 12 to achieve desired behavior of the vessel, vehicle or mechanism.

The mechanism illustrated in FIG. 7 may also be configured, in some embodiments, to move itself on land or other substrate 23, e.g., by adjusting the position of the fins 3 to make contact with the land or other substrate 23, and by configuring the transmission assemblies 13, 13 a, 13 b, via the central controller 12, yielding a crawling or “slithering” action, to move the vessel or vehicle in a desired direction, FIG. 8 .

In another implementation, the mechanism described above and illustrated in FIG. 6 , instead of being fixed to a body 20 via a harnessing fixture 22, may be fixed to an immovable object or substrate 23 via a harnessing fixture 22. The traveling-wave 19 along the crenated strip fin 3 induced by transmission assemblies 13, 13 a, 13 b may cause fluid such as air or water to primarily move 18 in the direction of the traveling wave 19, FIG. 9 . Applications include fluid-moving devices such as fans or pumps; fluid transportation or mixing, e.g. for industrial and chemical applications; aggregate, particle or powder mixing or transportation, e.g. for industrial and chemical applications, and/or the like.

In another embodiment, the vertebra plate 7 has two or more lobes that may be evenly-spaced and may be rotationally symmetrical about the axis of the shaft 8. A three-lobed vertebra plate 24 is shown for example in FIG. 10 . The common member 10 described above in this embodiment may be a chassis-like structure 10, 25 consisting of at least mainly longitudinal elements 10, 25, 26 and at least mainly transverse elements 10, 25, 27 to which at least one actuator 9 is fixed. The actuator 9 or actuators 9 are fixed to the chassis 25 which provides reaction torque for the actuator 9 or actuators 9. A crenated strip fin 3 is fixed to at least one lobed vertebra plate 24 via the first coupling 5. In one embodiment at least one actuator 9 is employed to actuate at least one lobed vertebra plate 24. In one embodiment a central controller 12 controls the actuator 9 or actuators 9 and a battery 11 or other power source powers the central controller 12 and actuator 9 or actuators 9.

The transmission assembly 13, 28, FIG. 11 , for the embodiment shown in FIG. 10 may in one embodiment be comprised of a first coupling 5, rotation-enabling component 6, lobed vertebra plate 24 and shaft 8 powered by an actuator 9 and allow three degrees of freedom of motion.

In another embodiment, one or more harnessing fixtures 22 may be added at a location or locations on the chassis 10, 25, so that the mechanism may be fixed to another body or to an immovable object or substrate 23. In embodiments where the other body 20 is a vessel, such as a boat, submersible or lighter-than-air craft, FIG. 12 , the mechanism under operation may provide propulsive thrust in the manner shown in FIG. 6 . In embodiments where the other body is an immovable object or substrate 23, FIG. 13 , the mechanism under operation may move ambient fluid in a desired direction or desired directions for the purposes of fluid transport or for the purposes of fluid, particle and aggregate mixing, in a similar manner as shown in FIG. 9 .

In another embodiment, the actuators 9 are electromagnetic and/or other transducers capable of energy harnessing. In such an embodiment, when the harnessing fixture 22 is attached to an immovable object or substrate 23, ambient fluid with directional motion may cause the deformations of the crenated strips 3 to move in a traveling wave in the direction of fluid motion. Kinetic energy from the moving fluid is transferred to the crenated strip 3 and may be converted into electrical energy via the actuators 9. In one embodiment the energy may be stored in a battery 11, FIGS. 9, 13, 14 .

In another embodiment the common member 10 is a chassis-like structure 29 to which the actuators 9 are fixed, FIG. 14 . In one implementation the chassis-like structure 29 passes contiguously through slots 30 in vertebra plates 7, 24 to make them slotted vertebra plates 31 allowing the actuators 9 to rotate the slotted vertebra plates 31 without colliding with the chassis-like structure 29.

In one implementation the transmission assembly 33, FIG. 15 for this embodiment accommodates three degrees of freedom and may consist of a shaft 8 powered by an actuator 9, first couplings 5, rotation-enabling component 6 and slotted vertebra plate 31. In one implementation the inner area 34 of the slotted vertebra plate 31 is thicker or stiffer or wider than the regions 35 nearer the point of attachment to the bearing component, to allow torque transmission from the shaft 8 while also allowing the portion 35 of the slotted vertebra plate 31 near the rotation-enabling component 6 to bend and shift along an axis 15 parallel to that of the shaft 8.

In one embodiment, FIG. 16 and FIG. 19 , two or more transmission assemblies 13 powered by actuators 9, fixed to a common member 10, powered by a battery 11 or other power source, and controlled by a central controller 12, may be shared by two or more crenated strip fins 3, FIG. 19 . The common member 10 is fixed to a harnessing fixture 22 which is fixed to an immovable object or substrate 23 or the body of a vessel 20 in a similar manner as described in the embodiments above. Clockwise and counter-clockwise rotation of the transmission assemblies 13 may cause the sinusoidal deformations of both crenated strip fins 3 to travel in the same direction as each other along the axis of the shafts 8.

In another embodiment with two crenated strip fins 3, FIG. 17 and FIG. 20 , one crenated strip fin 3, 36 is attached to one set of transmission assemblies 13, 37 and the other crenated strip fin 3, 38 is connected to a second set of transmission assemblies 13, 39, FIG. 20 . This allows one crenated strip fin 3, 36 to operate independently of the other crenated strip fin 3, 38 under control of the central controller 12. This in turn allows in one implementation the deformations of one crenated strip fin 3, 36 to travel in the opposite direction to the other crenated strip fin 3, 38. The degree of transmission assembly 13 rotation may vary between sets of transmission assemblies as well as within a set of transmission assemblies. For a craft utilizing such an embodiment, thrust vectoring is therefore facilitated to control the vessel's pitch, yaw, roll, direction, turning, and other controlled movements which may be executed via the central controller 12. (FIGS. 19-21 , for example). Sensors such as accelerometers, gyroscopes, inertial measurement units, compass, optic flow sensors, sonar, lidar, and fluid motion sensors such as pressure and velocity sensors, and/or the like, may feed into the central controller 12 to achieve desired behavior of the vessel, vehicle or mechanism.

Another implementation utilizes two pairs of crenated strip fins 3, FIGS. 18 and FIG. 21 . A first pair 40 is connected to one set of transmission assemblies 13, 37 and a second pair 42 is connected to a second set of transmission assemblies 13, 39, FIG. 21 which may allow the implementation to exert more thrust without adding actuators 9. For a craft utilizing such an embodiment, thrust vectoring may be facilitated to control the vessel's pitch, yaw, roll, direction, turning, and other controlled movements which may be executed via the central controller 12, such as described above.

In another embodiment FIGS. 22-23 , a single actuator 43 may be used to drive more than one transmission assembly 13, 44 simultaneously through the use of a crank shaft, Scotch Yoke, cam shaft and/or the like. An example is shown in FIG. 22 using a shaft with conjugate cams, and where a battery or other power source 11 powers at least one actuator 43 attached to a common member 10. Two or more transmission assemblies 13, 44, FIG. 23 , are mounted to the common member 10 with transmission assembly mounts 46. Rotation 46 a of the cam shaft 47 causes the vertebra plates 7, 48 of two or more transmission assemblies 13, 44 to rotate clockwise and counterclockwise 14 in a similar manner as described in embodiments above. The transmission assemblies 13, 44 are coupled to the crenated strip fin 3 in a similar manner as described in embodiments above. The common member 10 may be attached to an immovable object or substrate 23 or the body of a vessel 20, FIG. 22 , in a similar manner and for similar purposes as described in embodiments and implementations above.

In another embodiment, the transmission assembly 13, 44 may be coupled to two or more crenated strip fins 3 via a lobed vertebra plate 49 with more than one crenated strip fin 3 attachment to the same lobed vertebra plate 49, to create a lobed transmission assembly 50 with more than one fin attached, FIG. 24 . At least one lobed transmission assembly 50 mounted to a common member 10 may be actuated via an actuator 43 such as an electric motor and a central controller 12, and powered by a battery 11 or other power source to create a mechanism that may be free-swimming, and which may have a gear box 51 between the actuator and cam shaft 47, FIG. 25 .

In another embodiment, the mechanism may be attached via one or more harnessing fixtures 22 to a body 20, to provide thrust to the body 20. The body may be a sub-sea vessel, surface craft, or the body part of a person swimming or diving in water, or the body 20 may be attached to equipment worn by a person swimming or diving, FIG. 26 .

In one generator implementation, the common member 10, 25 may be fixed to a harnessing fixture 22 which is fixed to an immovable object or substrate 23, FIG. 27 . Moving fluid 52 may exert loads on the fins 3 which may induce the strained deformations in the fins 3 to travel 54 in the direction of the moving fluid 52 to induce rotation of the shaft 47 via transmission assemblies 13, 44, 50. The shaft 47 may be rotationally coupled to a gear box 51 coupled to an electromagnetic generator 53 or other transducer capable of turning rotational action into electrical energy. Electricity from the electromagnetic generator 53 or other transducer may be sent to a battery 11 or an electrical grid.

It is to be understood that the implementations described herein facilitate significant flexibility and that many changes, modifications, variations and other uses and applications of the described implementations are possible. All such changes, modifications, variations and other uses and applications which do not depart from the spirit and scope of the invention are deemed to be covered by the implementations described herein and variants thereof.

In another embodiment, an arched blade 55 is added to one edge of the arc-like flexible sheet-like material 2, FIG. 28 . The arched blade 55 may, for example, be made from a hard, flexible material having high resilience such as stainless steel, a hard polymer, and/or the like. The arched blade 55 may, e.g., be attached to the side of one edge of the flexible sheet-like material 2, or it may be inserted into a slot 56 in one edge of the flexible sheet-like material 2, FIGS. 28-29 . FIG. 30 shows a cross section through the edge of the flexible sheet-like material 2 in which the arched blade 55 is inserted into a slot 56 and fixed via a rivet, bolt, grommet, or similar coupling component 57 that passes through a hole in the flexible sheet-like material and the arched blade 55. FIG. 31 shows a cross section of an implementation in which the arched blade 55 has a thickening or flange along the edge that is inserted into the slot 56, and where the slot 56 has a widening that accommodates the cross-sectional profile of the arched blade 55 to mechanically hold the arched blade 55 in the slot 56. In addition to or instead of these mechanical means of fixing the arched blade 55 to the flexible sheet-like material 2, glue, or another bonding agent may be applied to secure the arched blade 55 to the flexible sheet-like material 2.

In another implementation of the arched blade 55, the outer radius edge of the arched blade 55 forms a continuous arc but its inner edge is comprised of a series of narrow tabs 58 to reduce in-plane bending loads on the arced blade 55, and a series of eyelets 59 contiguous with the arched blade 55, FIG. 32 . In examples of this implementation, the coupling components 57 that pass through the flexible sheet-like material may pass through the eyelets.

Once the arched blade 55 has been installed in the flexible sheet-like material 2, force or forces 1 are applied to the flexible sheet-like material 2 to which the arched blade 55 has been fixed to create a deformed crenated strip composite fin 60 with strained-deformations. In one propulsion embodiment, two or more composite fins 60 are each coupled to two or more transmission assemblies 13, 13 a, 13 b powered by motors that are coupled to a common member 10, to create a vehicle capable of “skating” over ice, FIG. 33 . A central controller 12 and battery 11 or other power source to power the transmission assemblies 13 a, 13 b and may be located inside the common member 10.

In another embodiment, two or more composite fins 60 are each coupled to two or more transmission assemblies 13, 44 that are coupled to a common member 10, 25 to yield a vehicle that can skate over ice. The transmission assemblies 13, 44 of each fin may be actuated by a motor 43 that operates a crank shaft, Scotch Yoke, cam shaft and/or the like. An example is shown in FIG. 34 using a shaft 47 with conjugate cams for each composite fin 60 whereby a central controller 12 and battery 11 or other power source power a motor for each composite fin 60, allowing independent control of the speed and direction of undulation-travel for each composite fin 60. Independent control of each composite fin 60 allows for direction change and maneuverability of the vehicle over the ice. In alternative implementations, a single motor and/or coupled control for both composite fins may be provided.

In another implementation, the vehicle may have two or more thrust modules, FIG. 35-36 . The thrust module 62, 63 may comprise a crenated strip fin 3 coupled via transmission assemblies 13, 13 a, 13 b, 28, 44 to a common member 10. In one implementation, the common member 10 may incorporate a cam with a cam shaft 47 driven, e.g., by a single actuator 43 via a belt or gear and the like, to make a cam thrust module 62, FIG. 35 , with a battery 11 or other power source and a central controller 12. The common member 10 may serve to secure a plurality of actuators 9 such as servo motors, to make a servo thrust module 63 FIG. 36 , having a battery 11 or other power source and a central controller 12, e.g., for autonomous or remotely controlled operation.

In one vehicle implementation, a rotating roll actuator 64, such as an electric motor, is fixed to the common member 10 at either end of the thrust module 62, 63. The shaft, or other rotating component 65 of the first roll actuator 64 is fixed to one end of a flexible coupling member 66. The shaft, or other rotating component 65 of a second roll actuator 64 is fixed to the other end of the flexible coupling member 66, FIG. 37 . The first and second thrust modules 62, 63 of the vehicle may therefore, in one implementation, be elastically coupled to each other via the flexible coupling members 66 and via the rotating components 65 of the roll actuators 64. The central controllers 12 of the thrust modules 62, 63 may communicate with each other through a wired or wireless connection. Each roll actuator 64 may rotate independently of the other roll actuators 64 under the control of the central controllers 12.

Traveling wave undulations of the fins are induced by the actuators of the thrust modules 62, 63. For example, the primary thrust vector of a thrust module 62,63 induced by traveling wave actuation along the fin 3 may create force in the direction substantially opposite to the traveling wave and substantially parallel to the longitudinal axis of the thrust module 62, 63. A secondary and lesser thrust vector of a thrust module 62, 63 may be perpendicular to the longitudinal axis of the thrust module 62, 63.

In one implementation, the vehicle's default operating position may be one in which the fins 3 are in an overall horizontal position, the thrust modules 62, 63 are substantially parallel to each other, and the flexible coupling members 66 are substantially parallel to each other. FIG. 38 shows this default operating position looking at the front of the vehicle, and FIG. 39 shows this default position viewing the vehicle from above. In this default position, the vehicle may travel in a straight line when the traveling wave undulations of the fins 3 travel in the same direction. The dotted lines shown in FIG. 38 represent the positions of the front roll actuators 64 a relative to the flexible coupling member 66, and represents positions of the rear roll actuators 64 b relative to the flexible coupling member 66.

In various implementations and/or modes of operation, a variety of fin 3 tilt and fin 3 rotation positions may be implemented and/or achieved, creating a variety of thrust vector forces on the vehicle. Actuation of one or more of the vehicle's roll actuators 64 allows the thrust modules 62, 63 to tilt relative to each other so that the primary thrust vector of the two thrust modules 62, 63 are no longer parallel, causing the vehicle to roll and/or to change direction.

One example is shown in FIG. 40 , which is a view looking at the front of the vehicle in a position where the rotating component 65 of the left front roll actuator 64 a has rotated 67 the flexible coupling member 66 to which it is fixed forty-five degrees relative to itself, and the rotating component 65 of the rear left roll actuator 64 b has rotated the flexible coupling member 66 to which it is fixed zero degrees relative to itself. The rotating component 65 of the right rear roll actuator 64 b has rotated 67 the flexible coupling member 66 to which it is fixed forty-five degrees relative to itself, and the rotating component 65 of the front right roll actuator 64 a has rotated the flexible coupling member 66 to which it is fixed zero degrees relative to itself. FIG. 41 shows the same configuration as FIG. 40 when viewing the vehicle from above.

Another example is shown in FIG. 42 , where a view looking at the front of the vehicle is shown in which the rotating component 65 of the front left roll actuator 64 a has rotated 67 the flexible coupling component 66 to which it is fixed counter-clockwise forty-five degrees relative to itself, and the rotating component 65 of the right front roll actuator 64 a has rotated 67 the flexible coupling component 66 to which it is fixed counter-clockwise forty-five degrees relative to itself. The rotating component 65 of the left rear roll actuator 64 b has rotated 67 the flexible coupling component 66 to which it is attached clockwise forty-five degrees relative to itself, and the rotating component of the rear right roll actuator 64 b has rotated 67 the flexible coupling component 66 to which it is fixed clockwise forty-five degrees relative to itself. FIG. 43 shows the same positioning of roll actuators 64 viewing the vehicle from above. In this example, the thrust vector of the left thrust module 62 is angled down while the thrust vector of the right thrust module 62 is angled up.

Another example is shown in FIG. 44 , where a view looking at the front of the vehicle is shown in a position where the rotating component 65 of the front left roll actuator 64 a has rotated 67 the flexible coupling component 66 to which it is fixed ninety degrees counter-clockwise relative to itself, and the rotating component 65 of the front right roll actuator 64 a has rotated 67 the flexible coupling component 66 to which it is fixed ninety degrees counter-clockwise relative to itself. The rotating components 65 of both the left and right rear roll actuators 64 b have rotated the coupling component 66 to which they are fixed zero degrees relative to themselves. In this example, the primary thrust vectors of the thrust modules 62 are tilted upwards and downwards relative to each other as well as inwards towards the central longitudinal axis of the vehicle. FIG. 45 shows the same positioning of roll actuators 64 viewing the vehicle from above.

When one or more roll actuators 64 has caused a thrust module 62, 63 to tilt, the distance as measured horizontally between the front and rear roll actuators 64 is reduced and the flexible coupling components 66 are now out of plane, having been induced to bend and twist, and the faces of the flexible coupling components 66 are no longer parallel to each other. The flexible nature of the flexible coupling components 66 allows out-of-plane bending while substantially resisting in-plane bending due to their aspect ratios.

In another implementation, the two flexible coupling components 66 may be connected via a secondary chassis 68, which may be rigid or semi-rigid, onto which one or more vehicle payloads may be attached, FIG. 46 . In one implementation, one end of the secondary chassis 68 may be rigidly fixed 69 to the first flexible coupling component 66 while the other end may be rotationally coupled to the second flexible coupling component 66, e.g., via a shaft and bearing 70 or other component allowing one degree of rotational freedom.

FIG. 47 illustrates an implementation with cowlings 71 enclosing the thrust modules 62, 63 and shows a payload 72 attached to the secondary chassis 68.

The high maneuverability of the vehicle may result from various factors in various implementations. For example, these may include a fast and/or near-instantaneous thrust induced by the fins 3 due to their large surface areas, the ability of the fins 3 to induce drag vectoring in addition to thrust vectoring, and/or the roll actuators that allow the fins 3 to tilt and rotate relative to the longitudinal axis of the vehicle.

An example of rapid position and orientation change and mobility in this implementation is shown in the sequence of FIGS. 48-52 . In FIG. 48 , the roll actuators 64 are in one implementation of a default position and the direction of fin undulation travel 73 is directly backwards, causing the vehicle motion 74 to be directly forwards. The horizontal plane 75 is shown as a dotted line in FIGS. 48-52 as a reference plane to show how the vehicle's position and movement has changed through the sequence.

In FIG. 49 , the roll actuators 64 have caused the thrust modules 62,63 to tilt in opposite directions, as shown for example in FIGS. 44-45 , so that the thrust vector of one fin is partially upwards while the thrust vector of the other fin is partially downwards. This causes the vehicle motion 74 to include a rotational component about the vehicle's longitudinal axis (e.g., a roll) as it travels forwards. FIG. 50 shows the vehicle after this rotation about the vehicle's longitudinal axis has caused the horizontal plane of the vehicle to rotate 90 degrees, and the roll actuators 64 are back to their default position. In FIG. 51 , the undulation 73 of the upper fin 3 is traveling backwards while the undulation 73 of the lower fin is traveling forwards, causing the vehicle motion 74 to include a rotational component about a transverse axis of the vehicle (e.g., a yaw). In FIG. 52 , the vehicle has completed 90 degrees of this rotation, and the undulation 73 of both fins travels backwards (which is now upwards in the figure), causing the vehicle motion 74 to be directly downwards. In this manner, in accordance with the described implementation, a vehicle traveling horizontally forwards can quickly roll and dive directly downwards.

In one vehicle implementation, roll actuators 64, such as electric motors, may be fixed to either end of a central body 76, which may be rigid or semi-rigid, and/or which may house a battery 11 and/or central controller 12. Shafts 65 and/or other rotating components of the roll actuators 64 may be fixed to an end each of a flexible coupling member 66. The other ends of the flexible coupling members 66 may be each fixed to the end of a thrust module 10, 62. FIG. 53 shows an implementation with the cam thrust modules 62 actuated by cam motors 43 powering traveling wave undulations along the fins 3 to create thrust. In other implementations, one or more servo thrust modules 63 may be used instead of or in addition to cam thrust modules 62. The roll actuators 64 may be controlled independently by the central controller 12, such as to change the thrust vectors of the fins, point the vehicle upward or downward, generate lift, steer, and/or the like. In one implementation, the central controller 12 may comprise first and second central controllers, with the first central controller coupled to the front roll actuators and the second central controller coupled to the back roll actuators 64. In one implementation, a vehicle payload 72 may be attached to the central body 76.

In order to address various issues and advance the art, the entirety of this application for VEHICLE WITH TRAVELING WAVE THRUST MODULE APPARATUSES, METHODS AND SYSTEMS (including the Cover Page, Title, Headings, Field, Background, Summary, Brief Description of the Drawings, Detailed Description, Claims, Abstract, Figures, Appendices, and otherwise) shows, by way of illustration, various embodiments in which the claimed innovations may be made, configured, and/or practiced. The advantages and features of the application are of a representative sample of embodiments only, and are not exhaustive and/or exclusive. They are presented only to assist in understanding and teach the claimed principles. It should be understood that they are not representative of all claimed innovations. As such, certain aspects of the disclosure have not been discussed herein. That alternate embodiments may not have been presented for a specific portion of the innovations or that further undescribed alternate embodiments may be available for a portion is not to be considered a disclaimer of those alternate embodiments. It will be appreciated that many of those undescribed embodiments incorporate the same principles of the innovations and others are equivalent. Thus, it is to be understood that other embodiments may be utilized and functional, logical, operational, organizational, structural and/or topological modifications may be made without departing from the scope and/or spirit of the disclosure. As such, all examples and/or embodiments are deemed to be non-limiting throughout this disclosure. Also, no inference should be drawn regarding those embodiments discussed herein relative to those not discussed herein other than it is as such for purposes of reducing space and repetition. For instance, it is to be understood that the logical and/or topological structure of any combination of any process steps and/or feature sets as described in the figures and/or throughout are not limited to a fixed operating order and/or arrangement, but rather, any disclosed order is exemplary and all equivalents, regardless of order, are contemplated by the disclosure. Similarly, some features are applicable to one aspect of the innovations, and inapplicable to others. In addition, the disclosure includes multiple innovations including some that may not be presently claimed, and the Applicant reserves all rights in those presently unclaimed innovations including the right to claim such innovations, file additional applications, continuations, continuations in part, divisionals, and/or the like thereof. As such, it should be understood that advantages, embodiments, examples, functional, features, logical, operational, organizational, structural, topological, and/or other aspects of the disclosure are not to be considered limitations on the disclosure as defined by the claims or limitations on equivalents to the claims. 

What is claimed is:
 1. An apparatus, comprising: a first thrust module comprising a first crenated strip coupled via a first transmission assembly to a first common member; a second thrust module comprising a second crenated strip coupled via a second transmission assembly to a second common member; a central body housing a battery and a central controller; a first elastic coupling member coupled at a first end to a right proximal end of the central body by a first roll actuator and coupled at a second end to a proximal end of the first thrust module; a second elastic coupling member coupled at a first end to a left proximal end of the central body by a second roll actuator and coupled at a second end to a proximal end of the second thrust module; a third elastic coupling member coupled at a first end to a right distal end of the central body by a third roll actuator and coupled at a second end to a distal end of the first thrust module; and a fourth elastic coupling member coupled at a first end to a left distal end of the central body by a fourth roll actuator and coupled at a second end to a distal end of the second thrust module.
 2. The apparatus of claim 1, wherein the first thrust module comprises a first cam, coupled to the first transmission assembly, with a first cam shaft driven by a first actuator, and wherein the second thrust module comprises a second cam, coupled to the second transmission assembly, with a second cam shaft driven by a second actuator.
 3. The apparatus of claim 2, wherein the first cam shaft is coupled to the first actuator by a first belt, and the second cam shaft is coupled to the second actuator by a second belt.
 4. The apparatus of claim 2, wherein the first cam shaft is coupled to the first actuator by a first gear, and the second cam shaft is coupled to the second actuator by a second gear.
 5. The apparatus of claim 1, wherein the first thrust module comprises a first plurality of actuators coupled to the first transmission assembly, and wherein the second thrust module comprises a second plurality of actuators coupled to the second transmission assembly.
 6. The apparatus of claim 5, wherein the first and second plurality of actuators comprise a first and second plurality of servo motors.
 7. The apparatus of claim 1, wherein the central controller comprises a first central controller coupled to the first and third roll actuators and a second central controller coupled to the second and fourth roll actuators.
 8. The apparatus of claim 1, further comprising: a first arched blade affixed to an edge of the first crenated strip; and a second arched blade affixed to an edge of the second crenated strip.
 9. The apparatus of claim 1, further comprising: a first cowling enclosing the first thrust module; and a second cowling enclosing the second thrust module.
 10. The apparatus of claim 1, wherein the central body is rigid.
 11. The apparatus of claim 1, wherein the central body is semi-rigid.
 12. The apparatus of claim 1, further comprising: at least one vehicle payload attached to the central body.
 13. The apparatus of claim 1, wherein the first transmission assembly allows three degrees of freedom of motion for the first crenated strip relative to the first common member and the second transmission assembly allows three degrees of freedom of motion for the second crenated strip relative to the second common member.
 14. A vehicle comprising: two undulating thrust modules joined at their front ends to a central body with respective front flexible coupling members and at their rear ends with respective rear flexible coupling members, wherein the respective front and rear flexible coupling members are connected to the central body via a total of four actuated rotational couplings each having one degree of rotational freedom.
 15. A vehicle comprising: a first undulating thrust module and a second undulating thrust module, wherein front ends of the first and second thrust modules are joined to a central body by first and second flexible coupling members via two front actuated rotational couplings, and wherein rear ends of the first and second thrust modules are joined to a central body by third and fourth flexible coupling members via two rear actuated rotational couplings, wherein each of the two front rotational couplings and two rear rotational couplings have one degree of rotational freedom and are actuated by electric motors.
 16. The vehicle of claim 15, wherein undulating action of each of the first and second undulating thrust modules is induced by a cam and motor powered by a battery under control of a central controller.
 17. The vehicle of claim 15 wherein undulating action of each of the first and second undulating thrust modules is induced by multiple motors fixed powered by a battery under control of a central controller. 